WO2014152254A3 - Methods, systems, and apparatus for multi-sensory stereo vision for robotics - Google Patents

Methods, systems, and apparatus for multi-sensory stereo vision for robotics

Info

Publication number
WO2014152254A3
WO2014152254A3 PCT/US2014/027126 US2014027126W WO2014152254A3 WO 2014152254 A3 WO2014152254 A3 WO 2014152254A3 US 2014027126 W US2014027126 W US 2014027126W WO 2014152254 A3 WO2014152254 A3 WO 2014152254A3
Authority
WO
WIPO (PCT)
Prior art keywords
sensor
stereo
robotics
processor
cases
Prior art date
Application number
PCT/US2014/027126
Other languages
French (fr)
Other versions
WO2014152254A2 (en
Inventor
Christopher Charles OSTERWOOD
Daniel Leland STROTHER
David Arthur Larose
Original Assignee
Carnegie Robotics Llc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Carnegie Robotics Llc filed Critical Carnegie Robotics Llc
Priority to KR1020157029111A priority Critical patent/KR101803164B1/en
Priority to AU2014239979A priority patent/AU2014239979B2/en
Priority to EP14770009.0A priority patent/EP2972478B1/en
Priority to US14/777,427 priority patent/US10412368B2/en
Priority to CA2902430A priority patent/CA2902430C/en
Priority to JP2016502343A priority patent/JP6514681B2/en
Priority to CN201480022190.5A priority patent/CN105164549B/en
Publication of WO2014152254A2 publication Critical patent/WO2014152254A2/en
Publication of WO2014152254A3 publication Critical patent/WO2014152254A3/en

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G01S7/4972—Alignment of sensor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/02—Bodies
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/55—Details of cameras or camera bodies; Accessories therefor with provision for heating or cooling, e.g. in aircraft
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B35/00—Stereoscopic photography
    • G03B35/08—Stereoscopic photography by simultaneous recording
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G06T7/85—Stereo camera calibration
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/51—Housings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0081—Depth or disparity estimation from stereoscopic image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N2213/00—Details of stereoscopic systems
    • H04N2213/001—Constructional or mechanical details
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device
    • Y10S901/47—Optical

Abstract

Embodiments of the present invention include multi-sensory stereo vision sensors suitable for use in robotics, navigation, machine vision, manufacturing, and other applications. In some cases, a sensor includes a stereo camera that produces image data for use in generating disparity maps to determine the positions of objects in the scene and/or the position of the sensor itself. The stereo sensor may include image sensors that are fastened to a unitary frame to prevent undesired drift and a thermal pad that wicks heat away from a processor. The processor may provide an efficient means to directly compute stereo disparity maps onboard the sensor. A sensor can also include a laser rangefinder that provides range data suitable for calibrating the stereo camera and for improving its accuracy in certain environments. In some cases, the laser is coupled to a spindle, which in turn is driven by a gear-train through a slipping clutch.
PCT/US2014/027126 2013-03-15 2014-03-14 Methods, systems, and apparatus for multi-sensory stereo vision for robotics WO2014152254A2 (en)

Priority Applications (7)

Application Number Priority Date Filing Date Title
KR1020157029111A KR101803164B1 (en) 2013-03-15 2014-03-14 Methods, systems, and apparatus for multi-sensory stereo vision for robotics
AU2014239979A AU2014239979B2 (en) 2013-03-15 2014-03-14 Methods, systems, and apparatus for multi-sensory stereo vision for robotics
EP14770009.0A EP2972478B1 (en) 2013-03-15 2014-03-14 Methods, systems, and apparatus for multi-sensory stereo vision for robotics
US14/777,427 US10412368B2 (en) 2013-03-15 2014-03-14 Methods, systems, and apparatus for multi-sensory stereo vision for robotics
CA2902430A CA2902430C (en) 2013-03-15 2014-03-14 Methods, systems, and apparatus for multi-sensory stereo vision for robotics
JP2016502343A JP6514681B2 (en) 2013-03-15 2014-03-14 Method, system and apparatus for multi-perceptive stereo vision for robots
CN201480022190.5A CN105164549B (en) 2013-03-15 2014-03-14 Method, system and the equipment of more sensing stereoscopic visions for robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201361792468P 2013-03-15 2013-03-15
US61/792,468 2013-03-15

Publications (2)

Publication Number Publication Date
WO2014152254A2 WO2014152254A2 (en) 2014-09-25
WO2014152254A3 true WO2014152254A3 (en) 2014-11-13

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2014/027126 WO2014152254A2 (en) 2013-03-15 2014-03-14 Methods, systems, and apparatus for multi-sensory stereo vision for robotics

Country Status (8)

Country Link
US (1) US10412368B2 (en)
EP (1) EP2972478B1 (en)
JP (1) JP6514681B2 (en)
KR (1) KR101803164B1 (en)
CN (1) CN105164549B (en)
AU (1) AU2014239979B2 (en)
CA (1) CA2902430C (en)
WO (1) WO2014152254A2 (en)

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